Profiling

.github/workflows/profiling.yml

@@ -0,0 +1,53 @@
+name: Profiling
+
+on: 
+  push:
+    branches:
+      - og-develop
+
+permissions:
+  # deployments permission to deploy GitHub pages website
+  deployments: write
+  # contents permission to update profiling contents in gh-pages branch
+  contents: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name == 'pull_request' && github.head_ref || github.sha }}
+  cancel-in-progress: true
+
+jobs:
+  profiling:
+    name: Speed Profiling
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
+
+    defaults:
+      run:
+        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
+
+    steps:
+      - name: Fix home
+        run: echo "HOME=/root" >> $GITHUB_ENV
+
+      - name: Checkout source
+        uses: actions/checkout@v3
+
+      - name: Install dev requirements
+        run: pip install -r requirements-dev.txt
+
+      - name: Install
+        run: pip install -e .
+
+      - name: Run performance benchmark
+        run: bash scripts/profiling.sh
+
+      - name: Store benchmark result
+        uses: benchmark-action/github-action-benchmark@v1
+        with:
+          tool: 'customSmallerIsBetter'
+          output-file-path: output.json
+          benchmark-data-dir-path: profiling
+          fail-on-alert: false
+          alert-threshold: '200%'
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          comment-on-alert: true
+          auto-push: true

omnigibson/macros.py

@@ -55,6 +55,9 @@
 # CANNOT be set at runtime
 gm.GUI_VIEWPORT_ONLY = False
 
+# Whether to use the viewer camera or not
+gm.RENDER_VIEWER_CAMERA = True
+
 # Do not suppress known omni warnings / errors, and also put omnigibson in a debug state
 # This includes extra information for things such as object sampling, and also any debug
 # logging messages

omnigibson/objects/object_base.py

@@ -5,11 +5,7 @@
 import omnigibson as og
 import omnigibson.lazy as lazy
 from omnigibson.macros import create_module_macros, gm
-from omnigibson.utils.constants import (
-    DEFAULT_COLLISION_GROUP,
-    SPECIAL_COLLISION_GROUPS,
-    SemanticClass,
-)
+from omnigibson.utils.constants import SemanticClass
 from omnigibson.utils.usd_utils import create_joint, CollisionAPI
 from omnigibson.prims.entity_prim import EntityPrim
 from omnigibson.utils.python_utils import Registerable, classproperty, get_uuid
@@ -88,10 +84,6 @@ def __init__(
         self.category = category
         self.fixed_base = fixed_base
 
-        # This sets the collision group of the object. In omnigibson, objects are only permitted to be part of a single
-        # collision group, e.g. collisions are only enabled within a single group
-        self.collision_group = SPECIAL_COLLISION_GROUPS.get(self.category, DEFAULT_COLLISION_GROUP)
-
         # Infer class ID if not specified
         if class_id is None:
             class_id = CLASS_NAME_TO_CLASS_ID.get(category, SemanticClass.USER_ADDED_OBJS)
@@ -177,25 +169,29 @@ def _post_load(self):
         if "visible" in self._load_config and self._load_config["visible"] is not None:
             self.visible = self._load_config["visible"]
 
-        # First, remove any articulation root API that already exists at the object-level prim
+        # First, remove any articulation root API that already exists at the object-level or root link level prim
         if self._prim.HasAPI(lazy.pxr.UsdPhysics.ArticulationRootAPI):
             self._prim.RemoveAPI(lazy.pxr.UsdPhysics.ArticulationRootAPI)
             self._prim.RemoveAPI(lazy.pxr.PhysxSchema.PhysxArticulationAPI)
 
+        if self.root_prim.HasAPI(lazy.pxr.UsdPhysics.ArticulationRootAPI):
+            self.root_prim.RemoveAPI(lazy.pxr.UsdPhysics.ArticulationRootAPI)
+            self.root_prim.RemoveAPI(lazy.pxr.PhysxSchema.PhysxArticulationAPI)
+
         # Potentially add articulation root APIs and also set self collisions
         root_prim = None if self.articulation_root_path is None else lazy.omni.isaac.core.utils.prims.get_prim_at_path(self.articulation_root_path)
         if root_prim is not None:
             lazy.pxr.UsdPhysics.ArticulationRootAPI.Apply(root_prim)
             lazy.pxr.PhysxSchema.PhysxArticulationAPI.Apply(root_prim)
             self.self_collisions = self._load_config["self_collisions"]
 
-        # TODO: Do we need to explicitly add all links? or is adding articulation root itself sufficient?
-        # Set the collision group
-        CollisionAPI.add_to_collision_group(
-            col_group=self.collision_group,
-            prim_path=self.prim_path,
-            create_if_not_exist=True,
-        )
+        # Set the collision group if needed
+        # We always filter collision groups between structures and fixed objects
+        if self.fixed_base:
+            CollisionAPI.add_to_collision_group(
+                col_group="fixed_base",
+                prim_path=self.prim_path,
+            )
 
         # Update semantics
         lazy.omni.isaac.core.utils.semantics.add_update_semantics(

omnigibson/prims/entity_prim.py

@@ -897,44 +897,60 @@ def get_relative_angular_velocity(self):
         return T.quat2mat(self.get_orientation()).T @ self.get_angular_velocity()
 
     def set_position_orientation(self, position=None, orientation=None):
+        # If kinematic only, clear cache for the root link
+        if self.kinematic_only:
+            self.root_link.clear_kinematic_only_cache()
+        if og.sim.is_stopped():
+            return XFormPrim.set_position_orientation(self, position, orientation)
         # Delegate to RigidPrim if we are not articulated
-        if self._articulation_view is None:
-            return self.root_link.set_position_orientation(position=position, orientation=orientation)
-
-        if position is not None:
-            position = np.asarray(position)[None, :]
-        if orientation is not None:
-            orientation = np.asarray(orientation)[None, [3, 0, 1, 2]]
-        self._articulation_view.set_world_poses(position, orientation)
-        BoundingBoxAPI.clear()
+        if og.sim.is_stopped():
+            XFormPrim.set_position_orientation(self, position=position, orientation=orientation)
+        elif self._articulation_view is None:
+            self.root_link.set_position_orientation(position=position, orientation=orientation)
+        else:
+            if position is not None:
+                position = np.asarray(position)[None, :]
+            if orientation is not None:
+                orientation = np.asarray(orientation)[None, [3, 0, 1, 2]]
+            self._articulation_view.set_world_poses(position, orientation)
+            BoundingBoxAPI.clear()
 
     def get_position_orientation(self):
+        if og.sim.is_stopped():
+            return XFormPrim.get_position_orientation(self)
         # Delegate to RigidPrim if we are not articulated
-        if self._articulation_view is None:
+        elif self._articulation_view is None:
             return self.root_link.get_position_orientation()
-
-        positions, orientations = self._articulation_view.get_world_poses()
-        return positions[0], orientations[0][[1, 2, 3, 0]]
+        else:
+            positions, orientations = self._articulation_view.get_world_poses()
+            return positions[0], orientations[0][[1, 2, 3, 0]]
 
     def set_local_pose(self, position=None, orientation=None):
+        # If kinematic only, clear cache for the root link
+        if self.kinematic_only:
+            self.root_link.clear_kinematic_only_cache()
+        if og.sim.is_stopped():
+            return XFormPrim.set_local_pose(self, position, orientation)
         # Delegate to RigidPrim if we are not articulated
-        if self._articulation_view is None:
-            return self.root_link.set_local_pose(position=position, orientation=orientation)
-
-        if position is not None:
-            position = np.asarray(position)[None, :]
-        if orientation is not None:
-            orientation = np.asarray(orientation)[None, [3, 0, 1, 2]]
-        self._articulation_view.set_local_poses(position, orientation)
-        BoundingBoxAPI.clear()
+        elif self._articulation_view is None:
+            self.root_link.set_local_pose(position=position, orientation=orientation)
+        else:
+            if position is not None:
+                position = np.asarray(position)[None, :]
+            if orientation is not None:
+                orientation = np.asarray(orientation)[None, [3, 0, 1, 2]]
+            self._articulation_view.set_local_poses(position, orientation)
+            BoundingBoxAPI.clear()
 
     def get_local_pose(self):
+        if og.sim.is_stopped():
+            return XFormPrim.get_local_pose(self)
         # Delegate to RigidPrim if we are not articulated
-        if self._articulation_view is None:
+        elif self._articulation_view is None:
             return self.root_link.get_local_pose()
-
-        positions, orientations = self._articulation_view.get_local_poses()
-        return positions[0], orientations[0][[1, 2, 3, 0]]
+        else:
+            positions, orientations = self._articulation_view.get_local_poses()
+            return positions[0], orientations[0][[1, 2, 3, 0]]
 
     # TODO: Is the omni joint damping (used for driving motors) same as dissipative joint damping (what we had in pb)?
     @property

omnigibson/prims/rigid_prim.py

@@ -291,8 +291,7 @@ def get_angular_velocity(self):
     def set_position_orientation(self, position=None, orientation=None):
         # Invalidate kinematic-only object pose caches when new pose is set
         if self.kinematic_only:
-            self._kinematic_world_pose_cache = None
-            self._kinematic_local_pose_cache = None
+            self.clear_kinematic_only_cache()
         if position is not None:
             position = np.asarray(position)[None, :]
         if orientation is not None:
@@ -321,8 +320,7 @@ def get_position_orientation(self):
     def set_local_pose(self, position=None, orientation=None):
         # Invalidate kinematic-only object pose caches when new pose is set
         if self.kinematic_only:
-            self._kinematic_world_pose_cache = None
-            self._kinematic_local_pose_cache = None
+            self.clear_kinematic_only_cache()
         if position is not None:
             position = np.asarray(position)[None, :]
         if orientation is not None:
@@ -622,6 +620,15 @@ def sleep(self):
         prim_id = lazy.pxr.PhysicsSchemaTools.sdfPathToInt(self.prim_path)
         og.sim.psi.put_to_sleep(og.sim.stage_id, prim_id)
 
+    def clear_kinematic_only_cache(self):
+        """
+        Clears the internal kinematic only cached pose. Useful if the parent prim's pose
+        changes without explicitly calling this prim's pose setter
+        """
+        assert self.kinematic_only
+        self._kinematic_local_pose_cache = None
+        self._kinematic_world_pose_cache = None
+
     def _dump_state(self):
         # Grab pose from super class
         state = super()._dump_state()

omnigibson/scenes/scene_base.py

@@ -11,6 +11,7 @@
     create_object_from_init_info
 from omnigibson.utils.registry_utils import SerializableRegistry
 from omnigibson.utils.ui_utils import create_module_logger
+from omnigibson.utils.usd_utils import CollisionAPI
 from omnigibson.objects.object_base import BaseObject
 from omnigibson.systems.system_base import SYSTEM_REGISTRY, clear_all_systems, get_system
 from omnigibson.objects.light_object import LightObject
@@ -170,6 +171,8 @@ def _load(self):
         Load the scene into simulator
         The elements to load may include: floor, building, objects, etc.
         """
+        # Add collision group for fixed objects
+        CollisionAPI.create_collision_group(col_group="fixed_base", filter_self_collisions=True)
         # We just add a ground plane if requested
         if self._use_floor_plane:
             self.add_ground_plane(color=self._floor_plane_color, visible=self._floor_plane_visible)
@@ -424,23 +427,6 @@ def add_object(self, obj, register=True, _is_call_from_simulator=False):
         # let scene._load() load the object when called later on.
         prim = obj.load()
 
-        # If this object is fixed and is NOT an agent, disable collisions between the fixed links of the fixed objects
-        # This is to account for cases such as Tiago, which has a fixed base which is needed for its global base joints
-        if obj.fixed_base and obj.category != robot_macros.ROBOT_CATEGORY:
-            # TODO: Remove building hotfix once asset collision meshes are fixed!!
-            building_categories = {"walls", "floors", "ceilings"}
-            for fixed_obj in self.fixed_objects.values():
-                # Filter out collisions between walls / ceilings / floors and ALL links of the other object
-                if obj.category in building_categories:
-                    for link in fixed_obj.links.values():
-                        obj.root_link.add_filtered_collision_pair(link)
-                elif fixed_obj.category in building_categories:
-                    for link in obj.links.values():
-                        fixed_obj.root_link.add_filtered_collision_pair(link)
-                else:
-                    # Only filter out root links
-                    obj.root_link.add_filtered_collision_pair(fixed_obj.root_link)
-
         # Add this object to our registry based on its type, if we want to register it
         if register:
             self.object_registry.add(obj)

omnigibson/simulator.py

@@ -1269,6 +1269,7 @@ def _init_stage(
                 position=np.array(m.DEFAULT_VIEWER_CAMERA_POS),
                 orientation=np.array(m.DEFAULT_VIEWER_CAMERA_QUAT),
             )
+            self.viewer_visibility = gm.RENDER_VIEWER_CAMERA
 
         def close(self):
             """

omnigibson/utils/constants.py

@@ -69,15 +69,6 @@ class ParticleModifyCondition(str, Enum):
 # Structure categories that need to always be loaded for stability purposes
 STRUCTURE_CATEGORIES = frozenset({"floors", "walls", "ceilings", "lawn", "driveway", "fence"})
 
-# Note that we are starting this from bit 6 since bullet seems to be giving special meaning to groups 0-5.
-# Collision groups for objects. For special logic, different categories can be assigned different collision groups.
-ALL_COLLISION_GROUPS_MASK = -1
-DEFAULT_COLLISION_GROUP = "default"
-SPECIAL_COLLISION_GROUPS = {
-    "floors": "floors",
-    "carpet": "carpet",
-}
-
 
 # Joint friction magic values to assign to objects based on their category
 DEFAULT_JOINT_FRICTION = 10.0

omnigibson/utils/profiling_utils.py

@@ -0,0 +1,80 @@
+import gym
+import omnigibson as og
+import os
+import psutil
+from pynvml.smi import nvidia_smi
+from time import time
+
+
+class ProfilingEnv(og.Environment):
+    def step(self, action):
+        try:
+            start = time()
+            # If the action is not a dictionary, convert into a dictionary
+            if not isinstance(action, dict) and not isinstance(action, gym.spaces.Dict):
+                action_dict = dict()
+                idx = 0
+                for robot in self.robots:
+                    action_dim = robot.action_dim
+                    action_dict[robot.name] = action[idx: idx + action_dim]
+                    idx += action_dim
+            else:
+                # Our inputted action is the action dictionary
+                action_dict = action
+
+            # Iterate over all robots and apply actions
+            for robot in self.robots:
+                robot.apply_action(action_dict[robot.name])
+
+            # Run simulation step
+            sim_start = time()
+            if len(og.sim._objects_to_initialize) > 0:
+                og.sim.render()
+            super(type(og.sim), og.sim).step(render=True)
+            omni_time = (time() - sim_start) * 1e3
+
+            # Additionally run non physics things
+            og.sim._non_physics_step()
+
+            # Grab observations
+            obs = self.get_obs()
+
+            # Step the scene graph builder if necessary
+            if self._scene_graph_builder is not None:
+                self._scene_graph_builder.step(self.scene)
+
+            # Grab reward, done, and info, and populate with internal info
+            reward, done, info = self.task.step(self, action)
+            self._populate_info(info)
+
+            if done and self._automatic_reset:
+                # Add lost observation to our information dict, and reset
+                info["last_observation"] = obs
+                obs = self.reset()
+
+            # Increment step
+            self._current_step += 1
+
+            # collect profiling data
+            total_frame_time = (time() - start) * 1e3
+            og_time = total_frame_time - omni_time
+            # memory usage in GB
+            memory_usage = psutil.Process(os.getpid()).memory_info().rss / 1024 ** 3
+            # VRAM usage in GB
+            for gpu in nvidia_smi.getInstance().DeviceQuery()['gpu']:
+                found = False
+                for process in gpu['processes']:
+                    if process['pid'] == os.getpid():
+                        vram_usage = process['used_memory'] / 1024
+                        found = True
+                        break
+                if found:
+                    break
+
+            ret = [total_frame_time, omni_time, og_time, memory_usage, vram_usage]
+            if self._current_step % 100 == 0:
+                print("total time: {:.3f} ms, Omni time: {:.3f} ms, OG time: {:.3f} ms, memory: {:.3f} GB, vram: {:.3f} GB.".format(*ret))
+
+            return obs, reward, done, info, ret
+        except:
+            raise ValueError(f"Failed to execute environment step {self._current_step} in episode {self._current_episode}")